Control- & Task-Aware Optimal Design of Actuation System for Legged Robots using Binary Integer Linear Programming.
Youngwoo SimGuillermo ColinJoao RamosPublished in: CoRR (2023)
Keyphrases
- optimal design
- integer linear programming
- legged robots
- inverted pendulum
- legged locomotion
- mobile robot
- column generation
- quadruped robot
- mathematical model
- control system
- control method
- intelligent control
- control algorithm
- feedback control
- fuzzy systems
- membership functions
- global constraints
- adaptive control
- fuzzy sets
- optimization problems
- dynamic programming
- objective function